Package xbot.common.subsystems.drive

Class BaseDriveSubsystem

java.lang.Object

edu.wpi.first.wpilibj2.command.SubsystemBase

xbot.common.command.BaseSubsystem

xbot.common.subsystems.drive.BaseDriveSubsystem

All Implemented Interfaces:

Sendable, Subsystem, DataFrameRefreshable, IPropertySupport

Direct Known Subclasses:

BaseSwerveDriveSubsystem, MockDriveSubsystem

public abstract class BaseDriveSubsystem
extends BaseSubsystem

Field Summary

Fields

Modifier and Type	Field	Description
static final double	kThrottleDeadband
Translation2d	lastRawCommandedDirection
double	lastRawCommandedRotation

Fields inherited from class xbot.common.command.BaseSubsystem

aKitLog, dataFrameRefreshables, log

Constructor Summary

Constructors

Constructor	Description
BaseDriveSubsystem()

Method Summary

Modifier and Type	Method	Description
void	arcadeDrive(double yTranslation, double rotation)	Classic arcade drive
void	cheesyDrive(double translation, double rotation)	Slightly adapted from 254's 2016 CheesyDriveHelper.java.
void	drive(double left, double right)	Classic tank drive.
void	drive(XYPair translation, double rotation)	Commands each of the XCANTalons to respond to translation/rotation input.
void	drive(XYPair translation, double rotation, boolean normalize)	Commands each of the XCANTalons to respond to translation/rotation input.
void	fieldOrientedDrive(XYPair translation, double rotation, double currentHeading, boolean normalize)
abstract double	getLeftTotalDistance()	Returns the total distance tracked by the encoder - On the LEFT side of the robot - Pointing in the direction of +Y travel
protected double	getMaxOutput(XYPair translation, double rotation)	Determine the largest commanded output for a given wheel for a given translation/rotation input.
abstract PIDManager	getPositionalPid()
abstract double	getRightTotalDistance()	Returns the total distance tracked by the encoder - On the RIGHT side of the robot - Pointing in the direction of +Y travel
abstract PIDManager	getRotateDecayPid()
abstract PIDManager	getRotateToHeadingPid()
abstract double	getTransverseDistance()	Returns the total distance tracked by the encoder - In the center of the robot - Pointing in the direction of +X travel
abstract void	move(XYPair translate, double rotate)
void	setQuickTurn(boolean value)
void	stop()
void	tankDrive(double left, double right)	Classic tank drive.

Methods inherited from class xbot.common.command.BaseSubsystem

getPrefix, periodic, refreshDataFrame, registerDataFrameRefreshable

Methods inherited from class edu.wpi.first.wpilibj2.command.SubsystemBase

addChild, getName, getSubsystem, initSendable, setName, setSubsystem

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface edu.wpi.first.wpilibj2.command.Subsystem

defer, getCurrentCommand, getDefaultCommand, register, removeDefaultCommand, run, runEnd, runOnce, setDefaultCommand, simulationPeriodic, startEnd, startRun

Field Details

lastRawCommandedDirection

public Translation2d lastRawCommandedDirection

lastRawCommandedRotation

public double lastRawCommandedRotation

kThrottleDeadband

public static final double kThrottleDeadband

See Also:

• Constant Field Values

Constructor Details

BaseDriveSubsystem

public BaseDriveSubsystem()

Method Details

getPositionalPid

public abstract PIDManager getPositionalPid()

getRotateToHeadingPid

public abstract PIDManager getRotateToHeadingPid()

getRotateDecayPid

public abstract PIDManager getRotateDecayPid()

move

public abstract void move(XYPair translate,
 double rotate)

getLeftTotalDistance

public abstract double getLeftTotalDistance()

Returns the total distance tracked by the encoder - On the LEFT side of the robot - Pointing in the direction of +Y travel

getRightTotalDistance

public abstract double getRightTotalDistance()

Returns the total distance tracked by the encoder - On the RIGHT side of the robot - Pointing in the direction of +Y travel

getTransverseDistance

public abstract double getTransverseDistance()

Returns the total distance tracked by the encoder - In the center of the robot - Pointing in the direction of +X travel

drive

public void drive(XYPair translation,
 double rotation,
 boolean normalize)

Commands each of the XCANTalons to respond to translation/rotation input. Each "wheel" is independently responsible, and as such there isn't any actual drive logic in this method.

Parameters:

translation - +Y is towards the front of the robot, +X is towards the right of the robot. Range between -1 and 1.

rotation - +Rotation is left turn, -Rotation is right turn. Range between -1 and 1.

normalize - If the largest output is greater than 1, should all outputs be normalized so that 1 is the maximum?

drive

public void drive(XYPair translation,
 double rotation)

Commands each of the XCANTalons to respond to translation/rotation input. Each "wheel" is independently responsible, and as such there isn't any actual drive logic in this method.

Parameters:

translation - +Y is towards the front of the robot, +X is towards the right of the robot. Range between -1 and 1

rotation - +Rotation is left turn, -Rotation is right turn. Range between -1 and 1.

drive

public void drive(double left,
 double right)

Classic tank drive.

Parameters:

left - Power to the left drive motor. Range between -1 and 1.

right - Power to the right drive motor. Range between -1 and 1.

fieldOrientedDrive

public void fieldOrientedDrive(XYPair translation,
 double rotation,
 double currentHeading,
 boolean normalize)

setQuickTurn

public void setQuickTurn(boolean value)

cheesyDrive

public void cheesyDrive(double translation,
 double rotation)

Slightly adapted from 254's 2016 CheesyDriveHelper.java.

stop

public void stop()

arcadeDrive

public void arcadeDrive(double yTranslation,
 double rotation)

Classic arcade drive

Parameters:

yTranslation - Translation power. Range between -1 and 1.

rotation - Rotation power. Range between -1 and 1.

tankDrive

public void tankDrive(double left,
 double right)

Classic tank drive.

Parameters:

left - Power to the left drive motor. Range between -1 and 1.

right - Power to the right drive motor. Range between -1 and 1.

getMaxOutput

protected double getMaxOutput(XYPair translation,
 double rotation)

Determine the largest commanded output for a given wheel for a given translation/rotation input. For example, you would see a maximum output of two in a Tank Drive system that's commanded to go forward at full speed AND rotate at full speed.